#ifndef __FRAME_H_
#define __FRAME_H_

#include <slam_2d_ros/common/slam_define.h>


namespace slam_2d{

    // 打印数据
    string PrintData(Pose2D pose);

    struct Frame{
        Frame() {}
        Frame(Scan2DPtr scan):scan_(scan) {}

        Scan2DPtr scan_ = nullptr;
        size_t id_ = 0;               // scan id
        size_t keyframe_id_ = 0;      // 关键帧 id
        Pose2D pose_ = Eigen::Isometry2d::Identity();                    // 位姿，world to scan, T_w_c
        Pose2D pose_submap_ = Eigen::Isometry2d::Identity();             // 位姿，submap to scan, T_s_c
    };

};  // namespace slam_2d

#endif